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ETB uses error accumulator (#2435) 

* error accumulator

* makefile

* accumulate ETB error

* comment

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>
This commit is contained in:
Matthew Kennedy 2021-03-08 16:18:35 -08:00 committed by GitHub
parent 7974f6d11a
commit 428aaca5c5
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 23 additions and 1 deletions
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22
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -98,6 +98,8 @@ static pedal2tps_t pedal2tpsMap("Pedal2Tps");
EXTERN_ENGINE; EXTERN_ENGINE;
constexpr float etbPeriodSeconds = 1.0f / ETB_LOOP_FREQUENCY;
static bool startupPositionError = false; static bool startupPositionError = false;
#define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5 #define STARTUP_NEUTRAL_POSITION_ERROR_THRESHOLD 5
@ -205,6 +207,9 @@ bool EtbController::init(etb_function_e function, DcMotor *motor, pid_s *pidPara
m_pid.initPidClass(pidParameters); m_pid.initPidClass(pidParameters);
m_pedalMap = pedalMap; m_pedalMap = pedalMap;
// Ignore 3% position error before complaining
m_errorAccumulator.init(3.0f, etbPeriodSeconds);
reset(); reset();
return true; return true;
@ -444,8 +449,23 @@ expected<percent_t> EtbController::getClosedLoop(percent_t target, percent_t obs
&& m_function == ETB_Throttle1) { && m_function == ETB_Throttle1) {
return getClosedLoopAutotune(observation); return getClosedLoopAutotune(observation);
} else { } else {
// Check that we're not over the error limit
float errorIntegral = m_errorAccumulator.accumulate(target - observation);
#if EFI_TUNER_STUDIO
if (m_function == ETB_Throttle1 && CONFIG(debugMode) == DBG_ETB_LOGIC) {
tsOutputChannels.debugFloatField3 = errorIntegral;
}
#endif // EFI_TUNER_STUDIO
// Allow up to 10 percent-seconds of error
if (errorIntegral > 10.0f) {
// TODO: figure out how to handle uncalibrated ETB
//ENGINE(limpManager).etbProblem();
}
// Normal case - use PID to compute closed loop part // Normal case - use PID to compute closed loop part
return m_pid.getOutput(target, observation, 1.0f / ETB_LOOP_FREQUENCY); return m_pid.getOutput(target, observation, etbPeriodSeconds);
} }
} }

2
firmware/controllers/actuators/electronic_throttle_impl.h
View File

@ -12,6 +12,7 @@
#include "sensor.h" #include "sensor.h"
#include "pid.h" #include "pid.h"
#include "error_accumulator.h"
/** /**
* Hard code ETB update speed. * Hard code ETB update speed.
@ -74,6 +75,7 @@ private:
DcMotor *m_motor = nullptr; DcMotor *m_motor = nullptr;
Pid m_pid; Pid m_pid;
bool m_shouldResetPid = false; bool m_shouldResetPid = false;
ErrorAccumulator m_errorAccumulator;
// Pedal -> target map // Pedal -> target map
const ValueProvider3D* m_pedalMap = nullptr; const ValueProvider3D* m_pedalMap = nullptr;